Virtual detents through vibrotactile feedback

ABSTRACT

Systems and methods for virtual detents through vibrotactile feedback are described. One described method includes receiving an input signal comprising information associated with the manipulation of an input device and generating a signal configured to cause an actuator to provide a vibrotactile effect to the input device, the vibrotactile effect comprising a virtual detent.

CROSS-REFERENCES TO RELATED APPLICATIONS

This application is a continuation of and claims priority to U.S. patentapplication Ser. No. 11/965,046, filed on Dec. 27, 2007, and entitled“Virtual Detents Through Vibrotactile Feedback,” which claims priorityto U.S. Provisional Patent Application No. 60/877,333 entitled “VirtualDetents through Vibrotactile Feedback,” filed Dec. 27, 2006, theentirety of both of which is hereby incorporated by reference.

FIELD OF THE INVENTION

The present invention generally relates to vibrotactile feedback. Moreparticularly, the present invention relates to methods and systems forproviding virtual detents through vibrotactile feedback.

BACKGROUND

Traditional mechanical device controls include switches, knobs, levels,sliders, faders, and the like. In the past, such controls have beenessentially mechanical in nature, e.g., a knob turning a shaft coupledto a potentiometer to control an electrical input to a device such as aradio or audio amplifier, a knob turning a shaft coupled to a fancontrol or heating/air conditioning control in an automobile, or a levercontrolling the opening and closing of a vent in an automobile.

With many traditionally mechanical functions being replaced byelectronics, operation of electronic controls has been made lessintuitive to users. For example, without click-stops or “detents,” orotherwise a sense of mechanical resistance, it may be difficult toobtain a similar experience from an electronic substitute for atraditional mechanical control device or even effectively andefficiently operate such a device. A detent, such as a mechanicaldetent, can refer to the resistance of rotation of a wheel or shaft. Adetent can be used to divide a rotation into discrete increments, or maybe used to arrest rotation in a direction. For instance, a mechanicaldetent can be constructed from a notched wheel and a small gravity orspring-actuated lever.

SUMMARY

Embodiments of the present invention disclosed herein provide methodsand systems for providing virtual detents through vibrotactile feedback.

One embodiment of the invention is a method comprising the steps ofreceiving an input signal that comprises information associated with themanipulation of an input device, and generating a vibrotactile signalconfigured to cause an actuator to produce a vibrotactile effectcomprising a virtual detent to the input device. In another embodiment,a computer-readable medium (such as, for example, random access memoryor a computer disk) comprises code for carrying out such a method.

Another embodiment of the invention is a system comprising an inputdevice and a processor that is in communication with the input deviceand that is configured to receive an input signal comprising informationassociated with the manipulation of the input device. The processor mayfurther be configured to generate a detent signal based at least in parton the manipulation of the input device. The system may further comprisean actuator coupled to the input device. The actuator may be incommunication with the processor and configured to produce to the inputdevice a vibrotactile effect comprising a virtual detent based at leastin part on the detent signal.

Further details of embodiments of the invention are set forth below.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other features, aspects, and advantages of the invention arebetter understood when the following Detailed Description is read withreference to the accompanying drawings, wherein:

FIG. 1 is a block diagram illustrating a first system for providingvirtual detents through vibrotactile feedback in one embodiment of theinvention;

FIG. 2 is a block diagram illustrating a second system for providingvirtual detents through vibrotactile feedback in one embodiment of theinvention;

FIG. 3 is an illustration of a first device for providing virtualdetents through vibrotactile feedback in one embodiment of the presentinvention;

FIG. 4 is an illustration of a second device for providing virtualdetents through vibrotactile feedback in one embodiment of the presentinvention;

FIG. 5 is a flow diagram illustrating a first method for virtual detentsthrough vibrotactile feedback;

FIG. 6 is a flow diagram illustrating a second method for virtualdetents through vibrotactile feedback;

FIG. 7 is a flow diagram illustrating a third method for virtual detentsthrough vibrotactile feedback;

FIG. 8 is a flow diagram illustrating a fourth method for virtualdetents through vibrotactile feedback; and

FIGS. 9A, 9B, 9C, 9D, 9E, 9F, 9G, and 9H are eight illustrations ofvirtual detent profiles in various embodiments of the present invention.

DETAILED DESCRIPTION

Embodiments of the present invention provide methods and systems forvirtual detents through vibrotactile feedback. In one illustrativeembodiment, a rotary knob input device is rotated. A sensor detects therotation of the rotary knob and sends an input signal to a processor.The input signal comprises information related to the rotation of therotary knob, such as how far the knob has been turned. The processordetermines whether to manipulate an audio system based at least in parton the input signal. The processor further determines whether togenerate a signal configured to cause an actuator to vibrate the rotaryknob, the vibration based at least in part on the signal.

This example is given to introduce the reader to the general subjectmatter discussed. The invention is not limited to this example. Below,examples of methods and systems for virtual detents through vibrotactilefeedback are described.

Illustrative Devices for Enhanced Haptic Feedback

In one illustrative embodiment of a device configured to provide virtualdetents through vibrotactile feedback, a portable music player may beconfigured to play music through a speaker and produce a virtual detenton a touch pad with an actuator. In one such embodiment, the portablemusic player may comprise a touch pad configured to generate an inputsignal to a processor based on a user contact. The processor may analyzethe input signal and determine whether to manipulate the audio systemand whether to generate a vibrotactile effect. If the processordetermines a vibrotactile effect should be generated, the processor maygenerate a signal. The signal may be configured to cause the actuator toproduce a vibrotactile effect to the touch pad in the form of a virtualdetent.

Such an illustrative embodiment may be advantageously employed tosimulate mechanical detents through vibrotactile feedback. Suchsimulated mechanical detents, or virtual detents, may provide usefulfeedback to a user. For example, a virtual detent may indicate thesuccessful change in volume of a sound system. As another example, theabsence of a virtual detent may indicate that a climate system is notturned on, or that it has reached the highest threshold of operation.

These further examples are given to introduce the reader to the generalsubject matter discussed herein. The invention is not limited to theseexamples. The following sections describe various embodiments of systemsand methods for providing virtual detents through vibrotactile feedback.

Example of a First System/or Virtual Detents Through VibrotactileFeedback

Referring now to the figures in which like numerals indicate likeelements throughout the several figures, FIG. 1 is a block diagramillustrating a first system for providing virtual detents throughvibrotactile feedback in one embodiment of the invention. In theembodiment shown, the system comprises an input device 102, a sensor104, a processor 106, an actuator 108, and a system to be manipulated110.

The Input Device and Sensor

Systems of the invention comprise an input device 102 and a sensor 104.The input device 102 shown in FIG. 1 is configured to provide an inputsignal to the processor when the input device 102 is manipulated. Inother embodiments, sensor 104 can generate an input signal when thesensor 104 detects manipulation of the input device 102.

The input device 102 can be, for example, a mechanical input device.Examples of mechanical input devices include a rotary knob coupled to anencoder. Encoders of the input device 102 may comprise an opticalencoder or a potentiometer. In other embodiments, the input device 102may be a non-mechanical input device. For example, the input device 102may be a touch-sensitive device, such as a touch pad or a touch screen.

The input device 102 is in communication with a sensor 104. The sensordetects movement of the input device 102. A sensor 104 can be configuredto detect the movement of a rotary knob, or other aspects ofmanipulation of the input device 102, such as position, velocity,acceleration, torque, rate of rotation, or the time of rotation.

Sensor 104 shown in FIG. 1 comprises a contact-type sensor, such as aswitch, a resistive sensor, a capacitive sensor, an infrared sensor, oran optical sensor. Alternatively, sensor 104 may comprise a non-contactsensor such as a field effect sensor or a proximity sensor, and can be asurface or sub-surface sensor.

The Processor

The system illustrated in FIG. 1 comprises a processor 106. Theprocessor 106 may be configured to receive input signals from an inputdevice 102 or a sensor 104 and to generate signals to an actuator 108.The signals may be configured to cause the actuator 108 to produce avibrotactile effect. Further, the processor can generate signalsprovided to a system to be manipulated 110.

In one embodiment, a dedicated processor 106 may receive input signalsand generate signals. Although there is a single processor shown in FIG.1, the system may comprise a plurality of processors. The processor 106may be configured to perform a variety of tasks. For example, theprocessor 106 may comprise additional program code running on a nativecellular phone processor.

The processor 106 may be configured to receive input signals. In someembodiments, the processor 106 may receive input signals from the inputdevice 102. In other embodiments, the processor 106 may receive inputsignals from the sensor 104. In the embodiment shown in FIG. 1, theinput device 102, sensor 104 and the processor 106 are in communicationvia a direct wired digital connection. For example, the input device102, sensor 104, and the processor 106 may be in communication via acommunication bus such as the Universal Serial Bus (USB). In otherembodiments, communication between an input device 102, sensor 104 andthe processor 106 may be through analog signals and/or may be wireless.For instance, the sensor 104 may be able to use Bluetooth, Wireless USBor Wi-Fi to communicate with the processor 106.

The processor 106 can also generate one or more signals. For example, aprocessor may generate a signal when a valid input signal is received.In the embodiment shown in FIG. 1, as the input device 102 ismanipulated, the processor 106 may generate a signal at the same time orimmediately after the manipulation. In one embodiment, the processor 106may process software code running as an application on the processor andutilize the input signal in the context of the software code to generatesignals configured to cause virtual detents.

The processor 106 may generate a signal, such as a detent signal, to theactuator 108. The detent signal may be configured to cause an actuator108 to produce a vibrotactile effect in the form of a virtual detent onthe input device 102.

The processor 106 may generate a signal specific to an actuator 108. Inone embodiment, the signal may be generated with parameters specific tothe actuator 108. For example, the processor may analyze parametersassociated with the actuator 108, such as the actuator's resonantfrequency, and generate a signal based at least in part on theparameters. Other parameters of the actuator 108 may comprise, forexample and without limitation, a resonant frequency of the actuator, amaximum peak-to-peak amplitude or magnitude of the actuator, or aminimum actuator response time.

The processor 106 may generate a signal by accessing a detent profilestored in a memory (not shown in FIG. 1). In one embodiment, theprocessor 106 may access a specific detent profile based at least inpart on the input signal. In certain embodiments, the processor 106 maydetermine which of a plurality of simulated mechanical detents togenerate. For example, the processor 106 may analyze the input signaland determine that a hard stop is appropriate. Further, the processor106 may then access the hard stop virtual detent profile in a memory,and generate a detent signal based on the hard stop virtual detentprofile.

The processor 106 may be in communication with a system to bemanipulated 110 or controlled. In some embodiments, the processor 106may be configured to generate a system signal. The system signal may beprovided to the system to be manipulated 110.

The system signal may be based at least in part on the manipulation ofthe input device. For example, an input device 102 in the form of arotary knob may be rotated one entire revolution. The processor 106 mayreceive an input signal indicating the complete rotation of the inputdevice 102 and generate a system signal configured to manipulate asystem 110 by maximizing or minimizing a level of the system.

While the device shown comprises one processor 106, other devices maycomprise two or more processors. Processor 106, as well as otherprocessors incorporated into one or more embodiments of the presentinvention, may comprise a computer-readable medium, such as a randomaccess memory (RAM) coupled to the processor (not shown in FIG. 1). Theprocessor executes computer-executable program instructions stored inmemory, such as executing one or more computer programs for generatingvibrotactile or other haptic effects. Such processors may comprise amicroprocessor, a digital signal processor (DSP), anapplication-specific integrated circuit (ASIC), field programmable gatearrays (FPGAs), and state machines. Such processors may further compriseprogrammable electronic devices such as PLCs, programmable interruptcontrollers (PICs), programmable logic devices (PLDs), programmableread-only memories (PROMs), electronically programmable read-onlymemories (EPROMs or EEPROMs), or other similar devices.

Such processors may comprise, or may be in communication with, media,for example computer-readable media, that may store instructions that,when executed by the processor, can cause the processor to perform thesteps described herein as carried out, or assisted, by a processor.Embodiments of computer-readable media may comprise, but are not limitedto, an electronic, optical, magnetic, or other storage or transmissiondevice capable of providing a processor with computer-readableinstructions. Other examples of media comprise, but are not limited to,a floppy disk, CD-ROM, magnetic disk, memory chip, ROM, RAM, ASIC,configured processor, all optical media, all magnetic tape or othermagnetic media, or any other medium from which a computer processor canread. Also, various other forms of computer-readable media may transmitor carry instructions to a computer, such as a router, private or publicnetwork, or other transmission device or channel. The processor, and theprocessing, described may be in one or more structures, and may bedispersed through one or more structures. The processor may comprisecode for carrying out one or more of the methods (or parts of methods)described herein. The instructions can comprise code from any suitablecomputer-programming language, including, for example, assembly code, C,C+, C++, Visual Basic, Java, Python, and JavaScript.

The Actuator

The system illustrated in FIG. 1 further comprises one or more actuators108. Each actuator 108 can be configured to receive a signal from theprocessor 106 and provide vibrotactile effects to the user in the formof virtual detents. The actuator 108 can vibrate the input device 102 toprovide vibrotactile feedback.

The actuator 108 can provide vibrotactile feedback based on signalsreceived from the processor 106. For example, the actuator 108 may beconfigured to generate a vibration after receiving a detent signal fromthe processor 106. The actuator 108 can vibrate the input device 102 atsubstantially the same time the input device is being manipulated.

The actuator 108 may be configured to simulate mechanical feedbackthrough vibrotactile feedback. Specifically, in some embodiments theactuator 108 may be configured to provide the perception of a detent(i.e. a virtual detent) without the traditional means necessary for amechanical detent. For example, the actuator 108 may be used in place ofvarious mechanical components which traditionally provided tactilefeedback, such as springs, brakes or cams. In some embodiments, thevibrotactile feedback may comprise a click effect replicating amechanical click. In other embodiments, the vibrotactile feedback maynot comprise a click effect, but some other effect, such as a springeffect or a barrier effect.

The actuator 108 may be configured to generate vibrotactile feedbackwith a variety of different characteristics. For example, the actuatormay be configured to generate vibrotactile feedback with differentfrequencies, amplitudes, or waveforms. In one embodiment, the virtualdetent may comprise a simulated click generated through a single pulse.In a second embodiment, the virtual detent may comprise aclick-and-release effect generated by a double pulse. FIG. 9 providesillustrations of various virtual detent profiles.

Because the actuator 108 may be configured to generate vibrotactilefeedback, in contrast to mechanical feedback, the actuator 108 mayprovide vibrotactile feedback to non-mechanical input devices 102, suchas a touch-sensitive pad, i.e., a touch pad or touch screen.

The actuator 108 may be configured to generate various types ofvibrotactile feedback. For example, the actuator 108 may be configuredto produce different virtual detents. The vibrotactile feedback may begenerated in various directions. For example, the actuator 108 mayvibrate the input device orthogonal to the motion of the input device.

The actuator 108 can be any of a variety of different types of forceproducing devices, including an eccentric rotating mass (ERM) actuator,a multifunctional (MFT) actuator, a linear mass actuator, anelectro-magnetic actuator, a motor, a voice coil, a pneumatic orhydraulic actuator, an electro-active polymer, or any other suitableactuator. In one embodiment, actuator 108 may comprise a plurality ofactuators of the same or different design. For example, in oneembodiment, two actuators may be employed. A first actuator may beconfigured to provide vibrotactile or other haptic effects having a highfrequency of vibration (e.g. greater than 400 Hz), while a secondactuator may be configured to provide vibrotactile or other hapticeffects having a low frequency of vibration (e.g. less than 400 Hz).

Since some embodiments of the invention may use the actuator 108 togenerate vibrotactile feedback, as opposed to mechanical feedback, asmaller actuator may be used than in other devices. For example,actuator 108 may comprise a circular actuator ten (10) millimeters indiameter and three and one half (3.5) millimeters thick.

Since the device may comprise a plurality of actuators, the number ofactuators 108 may be based on the size and mass of the device. Forexample, an actuator 108 may be provided for every one hundred (100)grams of mass of the system. In such an example, a system measuringthree hundred (300) grams may comprise three actuators. In anotherexample, a cellular phone measuring three hundred (300) grams may onlycomprise a single but more powerful actuator.

In one embodiment, the number of actuators 108 may be based on whatsurface of the system is being vibrated. For example, if a PDA measuresfour hundred (400) grams, but only the display will be vibrated, thesystem may comprise only one actuator 108, especially if the display isisolated from the rest of the device such as by a suspension system.Alternatively, if vibrotactile feedback is provided to the entire PDA,the system may comprise two or more actuators.

Each actuator 108 of a plurality of actuators may be configured togenerate vibrotactile feedback to the input device 102. In oneembodiment, the vibrotactile feedback generated by each of a pluralityof actuators is synchronized.

The actuator 108 can be mounted to a touch-sensitive display, such as atouch screen (not shown in FIG. 1). In one embodiment, the actuator 108is mounted underneath the display, or alternatively, to the edge of thedisplay, or laterally mounted to the display. In embodiments where theactuator 108 is mounted to a display, the display may be mounted in asuspension of compliant material, such as a foam gasket. Mounting adisplay to a foam gasket may ensure that the display is vibrated aloneor with a different strength than the entire device.

In one embodiment, two actuators may be mounted to either side of adisplay. In one example, both actuators may face the same direction andbe in the same phase. In one embodiment, two side-mounted actuators mayvibrate a screen side-to-side. Side-mounted actuators may produceconsistent forces across a screen, since the screen may be moving in thedirection of its rigidity.

In one embodiment, two actuators are mounted behind a display. In oneexample, both actuators mounted behind the display may face the samedirection and can vibrate the display in and out.

The System to be Manipulated

The system illustrated in FIG. 1 comprises a system to be manipulated110. One or more systems to be manipulated 110 can each receive systemsignals from the processor 106. The system to be manipulated 110 maycomprise a system capable of electrical or electromechanical control,such as and without limitation, a stereo system, a video system, aclimate system (e.g. air conditioning and/or heating), a navigationsystem, automotive systems, wireless communication devices, securitysystems, a television, a video game system, a washing machine or adrying machine, or an oven.

In one embodiment, the system to be manipulated 110 may comprise asingle system, such as a lighting system. In another embodiment, thesystem to be manipulated 110 may comprise a complex system comprisingone or more elements. For example, the system to be manipulated 110 maybe a heating and cooling system.

Example of a Second System for Virtual Detents Through VibrotactileFeedback

FIG. 2 is a block diagram illustrating a second system for providingvirtual detents through vibrotactile feedback in one embodiment of theinvention. In the embodiment shown, the system comprises a rotaryencoder 202, a sensor 204, a processor 206, and a linear resonantactuator 208. The system further comprises a visual system 210 a, anaudio system 210 b, a climate system 210 c, a display 212, a speaker214, and a memory 216. An example of a visual system 210 a is a videogame system. An example of an audio system 210 b is a stereo system. Anexample of a climate system 210 c is an air conditioning and heatingsystem.

As shown in FIG. 2, the input device can be the rotary encoder 202. Thesensor 204 is in communication with the rotary encoder 202 and theprocessor 206. As the rotary encoder 202 is manipulated, the sensor 204generates input signals associated with the manipulation, and transmitsthe input signals to the processor 206.

Once the processor 206 receives an input signal, the processor 206 candetermine whether to generate a detent signal and/or a system signal.For example, if the input signal indicates a rotation of a knob in morethan 5 degrees of motion, the processor 206 may generate a system signaland a detent signal.

The processor 206 is in communication with the linear resonant actuator208. The processor 206 can receive input signals comprising informationassociated with a manipulation of the rotary encoder 206 and generate asignal configured to cause the linear resonant actuator 208 to produce avibrotactile effect to the rotary encoder 202, the vibrotactile effectcomprising a simulated mechanical detent.

As shown in FIG. 2, the processor 206 is in communication with threesystems: a video system 210 a, a stereo system 210 b, and a climatesystem 210 c. The processor is also in communication with a display 212and a speaker 214. The processor may synchronize changes in the display212, sounds played via a speaker 214, and vibrotactile feedback in therotary encoder 202.

In other embodiments, the input device may comprise a different device,such as a touch pad. The touch pad (not shown) may be in communicationwith a sensor 204. The sensor 204 may be configured to detect movementon the touchpad.

The sensor 204 can directly transmit input signals to the processor 206.In a specific example, the sensor 204 may send an input signal to theprocessor 206 once the rotary encoder is rotated 2 degrees or more.

The processor 206 can be in communication with one or a plurality ofsystems to be controlled. The processor 206 can cause the display 212 toshow a graphical representation of a menu structure. The processor 206can synchronize vibrotactile feedback with other events, such as changesin the display 212 or sounds played on the stereo system 210 b. In oneexample, as the navigation of a menu system is shown on display 212, theinput device may be vibrated while each item on the menu is traversed.

The processor 206 can be configured to determine a specific detentsignal to generate. The detent signal may be based at least in part onthe system which is actively being controlled. For example, if the videosystem 210 a is being controlled, the processor 206 may generate onetype of detent signal, such as a click effect. Alternatively, if thestereo system 210 b is being controlled, the processor 206 may generatea second type of detent signal, such as a hard stop virtual detent.

As shown in FIG. 2, the processor 206 comprises memory 216. The memory216 can be a high-speed cache memory, and configured to storevibrotactile feedback effects, such as virtual detent profiles. In oneembodiment, the processor can access an effect profile stored in memory216 after the processor 206 has determined what type of vibrotactileeffect to generate.

A default library of vibrotactile effects, such as virtual detents, maybe stored in the memory 216. For example, the processor 106 may storeeach virtual detent profile illustrated in FIG. 9 in the memory 216.This profile may take the form of computer code. In one embodiment, theprocessor may be programmed with various types of vibrotactile effectsnot previously stored in memory 216. For example, each user of thesystem may author individual vibrotactile effects to store in memory216. In a second embodiment, the processor 106 may only storevibrotactile effects programmed by a manufacturer. In one embodiment,characteristics of the actuator may be stored in memory 216. Forexample, the frequency response of a system's actuator may be stored inmemory 216.

Virtual Detents Through Vibrotactile Feedback

FIG. 3 is an illustration of a first device for providing virtualdetents through vibrotactile feedback in one embodiment of the presentinvention. Various embodiments of the invention may be used in deviceswithout mechanical feedback. In other embodiments, the invention may beused to supplement mechanical feedback.

The device in FIG. 3 comprises a portable music player 300 having a body302, a graphical user interface display 304, and a circular touch pad306. Although the touch pad 306 shown in FIG. 3 is circular, in otherembodiments the touch pad 306 may be linear, rectangular, or some otherconfiguration. As shown in FIG. 3, the input device 306 may be incommunication with a display 304. As an example, the input device 306may be configured to navigate a menu system which may be shown on thedisplay 304. In other embodiments, the input device 306 may not be incommunication with a display 304.

While the embodiment shown in FIG. 3 comprises a portable music player,other embodiments may comprise other devices, such as a personal digitalassistant (PDA), a portable video player, a portable game system, or aportable navigation device. Other examples may include other electronicdevices or appliances, such as a television, oven, or a lighting system.

A user may interact with the portable music player 300 by activating thecircular touch pad 306. For example, a user may select an object on amenu displayed on the graphical user interface display 304 by dragging afinger around the circular touch pad 306 in a clockwise orcounter-clockwise direction.

An actuator (not shown in FIG. 3) is coupled to the touch pad. As a usermanipulates the circular touch pad 306, vibrotactile feedback in theform of virtual detents are provided to the user when the actuatorvibrates the touch pad. The actuator generates virtual detents throughvibrotactile feedback, to simulate mechanical feedback.

Since the vibrotactile feedback may be programmable and variable,providing different types of vibrotactile feedback on the same inputdevice will provide an enhanced interface. Vibrotactile feedback may aidin the selection of menus, control of levels (such as volume, bass,treble, balance, etc.), and navigation of lists.

Vibrotactile feedback may be based on the validity of an input. In oneexample, vibrotactile feedback is provided when a valid input isreceived, such as when a control is enabled and within an allowed range.If the controlled function is at or reaches a maximum or a minimum,vibrotactile feedback may be disabled, providing information that theattempted control is outside of the valid range of the system.Similarly, if the system is not active or powered on, the absence ofvibrotactile feedback may inform the user of that state.

The frequency and strength of the vibrotactile feedback may also bevaried to provide an enhanced interface. In one embodiment, the type ofvibrotactile feedback may be based at least in part on the contentselected by a user.

In one embodiment the frequency and strength of the vibrotactilefeedback notifies the user of various levels of control. A strongervirtual detent can indicate a bigger decision in comparison to a weakervirtual detent indicative of a smaller decision. High and low strengthsof vibrotactile feedback can indicate divisions in a list (i.e. separatewords by letter, or numbers at every multiple of 10). A high or lowstrength of vibrotactile feedback can also indicate one or more pointsin a range, for example, the center position of a balance control. Thefrequency of the vibrotactile feedback may represent the speed ofnavigation of the user's finger across the touch active surface oracross the number of elements in a list.

In one embodiment, each system that is controlled by the input devicemay be associated with a type or profile of vibrotactile feedback. Forexample, the actuator vibrates the input device at a constant intensitywhen an audio system is being controlled by the input device, andvibrates the input device at a periodic intensity when a temperaturesystem is being controlled.

In one embodiment, a combination of vibrotactile effects is linked as avibrotactile theme. A vibrotactile theme can correspond with anindividual function or system. One theme can comprise a combination ofsingle clicks and double clicks to represent simulated mechanicalfeedback for a system being changed or a threshold being reached.Another theme can comprise a combination of a constant, low intensityvibration with a hard stop virtual detent effect. While the first themecan be assigned to one system, such as a climate system the second themecan be assigned to a second system, such as a stereo system.

FIG. 4 is an illustration of a second device for providing virtualdetents through vibrotactile feedback in one embodiment of the presentinvention. The device in FIG. 4 comprises a mechanical device,specifically a rotary knob 400. While the embodiment shown in FIG. 4comprises a rotary knob 400, other embodiments may comprise other inputdevices. In some other embodiments, the input device may comprise alinear or rotary encoder, a potentiometer, or a fader. Alternatively,other embodiments may comprise non-mechanical input devices, such as atouch-sensitive pad or a touch-sensitive screen.

The rotary knob 400 is configured to rotate in a rotary degree offreedom about an axis extending through the knob. In some embodiments,the rotary knob may also be configured to move in a plane perpendicularto or along the rotary axis. The rotary knob 400 is coupled to amounting surface 402. The mounting surface may be a surface on a controlpanel, dashboard, car console, mouse, joystick, industrial equipment,medical equipment, or any consumer electronics device.

A user interacts with the rotary knob 400 by rotating the knob in aclockwise or counter-clockwise direction. One or more actuators 406 canbe coupled to the rotary knob 400 to generate vibrotactile feedback. Asthe knob is rotated, vibrotactile feedback may be generated in the formof virtual detents. For example, as the knob is rotated, an effect suchas a hard stop may be generated by vibrating the knob.

The rotary knob 400 can be coupled to a sensor 408. Sensor 408 candetect movements in the rotary knob 400, and transmit data to aprocessor 106. A shaft 404 may connect the actuator 406 and sensor 408with the rotary knob 400.

As shown in FIG. 4, a rotary knob 400 is a generally cylindrical object.Other devices for providing virtual detents may have various designs,including but not limited to conical shapes, spherical shapes, ovalshapes, cubical shapes, etc. The rotary knob 400 may have one or moretextures on its surface, including but not limited to bumps, lines,grooves, other types of grips, or projections or members extending fromthe device's surface. Such shapes and textures may allow a user toeasily grip or contact the knob and rotate it.

The rotary knob 400 may be configured to control a system. For example,the rotary knob 400 may be located on a stereo receiver, and configuredto control the volume of the stereo. In one embodiment, the rotary knob400 may control a plurality of systems, such as a car's temperaturesystem, navigation system, and/or communication system. For example, auser can pull a knob to a first elevation in order to control thetemperature system of the car. To control a different system, a user maypush the knob down to a different elevation. In another embodiment, auser selects a system to be controlled via a menu system navigated bythe rotary knob 400 or other controls.

Examples of Methods for Virtual Detents Through Vibrotactile Feedback

FIG. 5 is a flow diagram illustrating a first method for providingvirtual detents through vibrotactile feedback in one embodiment of thepresent invention. In step 502, the sensor generates an input signalbased at least in part on a manipulation of an input device. In step502, the processor 106 receives an input signal comprising informationassociated with the manipulation of an input device 102. In step 504,the processor 106 generates a signal configured to cause an actuator toproduce a vibrotactile effect to the input device 102, the vibrotactileeffect comprising a simulated mechanical detent.

The processor 106 can receive and generate signals as digital signals oranalog signals, via wireless or wired connections. The input signal cancomprise information related to a manipulation of the input device 102.For instance, the information related to the manipulation of the inputdevice may be positional data, for example, comprising informationrelated to the change in position of the input device. In anotherexample, the input signal may comprise information related to the speedof the change in position of the input device as well as the change inposition of the input device. As a further example, the input signalcomprises information related to the direction of a continuous usercontact with a rotary touch pad along with the speed at which the rotarytouch pad is contacted.

In step 504, a signal is generated by the processor. The signal can beconfigured to cause an actuator to produce a vibrotactile effect to theinput device, the vibrotactile effect comprising a simulated mechanicaldetent, and based at least in part on the detent signal. The signalcomprises information relating to a specific virtual detent to begenerated by an actuator.

The signal may be based at least in part on the input signal, forinstance, if the input signal indicates a fast manipulation of the inputdevice, than the detent signal may comprise a high frequencyvibrotactile effect. The signal may be based at least in part on astatus of a system to be manipulated. In one embodiment, a signal is notgenerated if a system is off. In another embodiment, if a system is off,than only a signal configured to produce a hard stop is generated.

In one embodiment, the signal is based on a system reaching a maximum orminimum threshold. For example, if a stereo system has reached thehighest volume level, than the signal is configured to produce a hardstop virtual detent. Alternatively, if the system to be controlled hasreached a threshold no signal is generated. In another example, if thestereo system has not reached the highest or lowest volume level, asignal configured to produce a click effect virtual detent is generated.

The signal generated by the processor 106 may be synchronized withchanges in the system 110. For example, a detent signal can beconfigured to cause a vibrotactile effect at the same time as changes ina display, audio level or frequency, or control of an electromechanicalsystem. The detent signal may also be synchronized with other types offeedback. For example, vibrotactile feedback produced by an actuator inresponse to the detent signal may be accompanied by an audible click ornoise.

FIG. 6 is a flow diagram illustrating a second method for providingvirtual detents through vibrotactile feedback in one embodiment of thepresent invention. In step 602, a sensor 104 detects a change inposition of an input device 102. The sensor 104 can detect the rotationof a knob 400. The sensor 104 may detect, for example, relative changes,or changes from a reference point, in the position of an input device102.

In step 604, the sensor 104 generates a detent signal. The detent signalcan be configured to cause an actuator to produce a vibrotactile effectto the input device, the vibrotactile effect comprising a simulatedmechanical detent, the vibrotactile effect based at least in part on thedetent signal.

The sensor 104 can be configured to only detect changes above apredetermined threshold. One sensor can be configured to detect movementof a rotary knob in one degree increments. Another sensor can beconfigured with a higher detection threshold, and only detect rotationsof five degrees or more. The detection threshold can correspond to adetermination of whether a user intended to manipulate the device, or ifthe manipulation was accidental or unintended.

One or more sensors 104 can be configured to detect pressure or movementon a touch pad. As an example, three sensors configured to detentchanges in force may be coupled to a touch pad. The force sensors maydetect input on the touch pad, such as when a user drags a finger acrossthe surface of the touch pad.

A processor 106 can generate the detent signal. The detent signal may bebased at least in part on the manipulation or change in position of theinput device. For example, a first detent signal may correspond to asmall change in position of the input device, whereas a second detentsignal may correspond to a larger change in position of the inputdevice.

FIG. 7 is a flow diagram illustrating a third method for providingvirtual detents through vibrotactile feedback in one embodiment of thepresent invention. In step 702, the sensor 104 detects a change inposition of an input device. The sensor 104 can detect input from arotary knob 400, or input via a touch pad or touch screen.

In step 704, the processor 106 determines whether to generate a detentsignal. The processor 106 may determine whether to generate a detentsignal based at least in part on a status of a system to be manipulated110. For example, the processor 106 may generate a detent signal if thesystem to be manipulated is turned on. As another example, the processor106 may not generate a detent signal if the system to be manipulated isturned off.

In step 706, the processor 106 generates a detent signal. The processor106 can generate the detent signal as a digital signal sent to theactuator 108.

In step 708, the processor 106 generates a system signal. The systemsignal can be configured to manipulate a system to be controlled, suchas an audio system, a video system, a climate system, or a menu system.As examples, the system signal can change the volume of a stereo system,increase the output of a heater or air conditioner, or zoom in on a map.

In step 710, if the processor determines not to generate a detentsignal, than the processor may wait for a new change in position of theinput device 710.

The processor 106 can generate detent signals and systems signals thesystem signal as digital signals or analog signals. The processor 106can generate the detent signal 706 and the system signal 708substantially simultaneously. In one embodiment, the system to becontrolled is manipulated at substantially the same time as thevibrotactile feedback is generated on the input device. In someembodiments, a user may experience a virtual detent as a system is beingmanipulated, giving the user the impression of mechanical detents.

The system signal can be based at least in part on an input signal. Inone embodiment, an input signal may indicate that the input device isbeing manipulated with a quick motion. A corresponding system signal maymanipulate the system to be controlled in a like fashion. In oneexample, a rotary knob is quickly rotated. A processor may generate asystem signal to a stereo system with a radio, the system signal movingthrough radio frequencies in large increments.

FIG. 8 is a flow diagram illustrating a fourth method for virtualdetents through vibrotactile feedback. In step 802, an input device,such as a knob or a touch pad, is manipulated. A user can rotate a knob,or drag her finger across a touch pad. In response to the user input, asystem is manipulated 804. Finally, a vibrotactile effect is produced onthe input device 806.

The system may be manipulated based at least in part on the manipulationof the input device. For example, if a knob is rotated to the right onefull revolution, the volume of a stereo system may be doubled. Inanother example, if a circular touch pad is contacted in acounter-clockwise motion, a menu structure shown on a display maynavigate up.

The vibrotactile effect 806 can be synchronized with the manipulation ofthe system 804. As a user navigates a menu shown on a display, avibrotactile effect may be produced on a circular touch pad inputdevice.

Examples of Virtual Detents

FIGS. 9A, 9B, 9C, 9D, 9E, 9F, 9G, and 9H are eight illustrations ofvirtual detent profiles in various embodiments of the present invention.In FIGS. 9A-9H, the rotary knob 202 is shown on the right along with arepresentation of the virtual detent profile on the left correspondingwith the rotary knob. The virtual detent profiles illustrated in FIGS.9A-9H are exemplary embodiments of the invention. Other embodiments maybe apparent to those skilled in the art. In some embodiments, varioustypes of detents may be combined to produce a combination vibrotactileeffect.

FIG. 9A depicts a programmable virtual detent profile. Virtual detentsare shown at A, B, C, D, and E. For example, as a rotary knob is rotatedthrough each point A-E, the rotary knob may be vibrated to generate thefeeling of a real detent. The magnitude and width of the vibrotactilefeedback applied to the input device at each virtual detent may simulatethe magnitude and width of a mechanical detent.

FIG. 9B depicts a hard stop virtual detent profile. A hard stop, orbarrier virtual detent, may simulate a mechanical hard stop or barrier.For example, a virtual hard stop may indicate that a system can nolonger be manipulated. As an illustration, as a user turns a rotaryknob, virtual detents may indicate each increasing fan level selected bya user. When the fan level reaches its maximum, the processor 106 maysend a detent signal to the actuator 108 comprising a barrier detentinstruction.

FIG. 9C depicts a hill virtual detent profile. A hill effect maysimulate the approach to the end of a menu system, or a maximum orminimum threshold of a system. For example, as the user approaches thelast item in a menu, the vibrotactile effect may gradually increase. Asanother example, when the user is approaching the end of a wrap-aroundmenu structure, the intensity of the vibrotactile feedback may increaseuntil the user reaches the beginning item, which may be accompanied byvibrotactile feedback with lower intensity.

FIG. 9D depicts a compound virtual detent profile. In some embodiments,the magnitude and/or width of the vibrotactile feedback may be varied ateach point. In such embodiments, a compound effect may include two ormore effects such as barriers or detents. A compound effect may berelated to the operational characteristics of a system. For example, acompound effect used in conjunction with a menu system may generatelight intensity vibrotactile feedback while a menu is traversed within asubcategory, but generate heavier intensity vibrotactile feedback whenlarger categories of the menu are traversed. In one embodiment, a hilleffect may be used as a user traverses contact names beginning with thesame letter. When a new letter is reached, a hard stop effect may beused to indicate the new letter.

FIG. 9E depicts a spring virtual detent profile. A spring virtual detentmay indicate a preferred position of an input device. For example, as auser manipulates a rotary knob away from a home position, a springeffect virtual detent may increase in intensity as the knobs distancefrom the home position increases.

FIG. 9F depicts a damper virtual detent profile. In a damper virtualdetent, the vibrotactile force may increase or decrease based on thespeed of the manipulation of an input device. For example, a lightvibrotactile effect may accompany slow rotation of a rotary knob, whilea heavier vibrotactile effect may accompany faster rotation of therotary knob.

FIG. 9G depicts a constant virtual detent profile. A constant forceeffect may be a continuous force independent of the position ormanipulation of the input device. For example, as a rotary knob isrotated, the force of the vibrotactile effect may remain constant. Aconstant virtual detent profile may be used in combination with a nullforce profile, such that vibrotactile effects are generated at aconstant intensity during part of a manipulation of an input device, andnot generated at all at a later time. For example, a constantvibrotactile force may be produced on a rotary knob until a threshold isreached, upon which no vibrotactile force is generated in response tomanipulation of the rotary knob. In another example, a constantvibrotactile force may be output while a user has selected one item in amenu system, but not generated when a user selects a different item in amenu system.

FIG. 9H depicts a periodic virtual detent profile. The periodic forceeffect profile may comprise a sine wave, square wave, or triangular waveprofile. In one example of a triangular virtual detent, the intensity ofa virtual detent may increase and decrease linearly over time. Aperiodic virtual detent may last for a set period of time.

General

The foregoing description of embodiments of the invention has beenpresented only for the purpose of illustration and description and isnot intended to be exhaustive or to limit the invention to the preciseforms disclosed. Numerous modifications and adaptations thereof will beapparent to those skilled in the art without departing from the spiritand scope of the present invention.

That which is claimed:
 1. A method comprising: receiving an input signalcomprising information associated with a manipulation of an inputdevice, and generating a vibrotactile signal configured to cause anactuator to produce a vibrotactile effect to the input device, thevibrotactile effect comprising a virtual detent.
 2. The method of claim1, further comprising generating a system signal associated with asystem to be manipulated, the system signal based at least in part onthe input signal, and wherein generating a system signal and generatingthe vibrotactile signal occur substantially simultaneously.
 3. Themethod of claim 1, wherein the vibrotactile signal is based at least inpart on the input signal.
 4. The method of claim 1, wherein thevibrotactile signal is further based in part on the status of the inputdevice.
 5. The method of claim 1, further comprising determining whetherto generate a signal.
 6. The method of claim 5, wherein determiningwhether to generate a signal is based at least in part on a status ofthe system to be manipulated.
 7. The method of claim 1, furthercomprising determining one of a plurality of virtual detents togenerate.
 8. The method of claim 1, wherein the information associatedwith the manipulation of an input device comprises informationassociated with the rotation of a rotary knob or the sliding of a fader.9. A computer-readable medium on which is encoded program code, theprogram code comprising: program code for receiving an input signalcomprising information associated with the manipulation of an inputdevice; and program code for generating a detent signal configured tocause an actuator to produce a vibrotactile effect to the input device,the vibrotactile effect comprising a virtual detent.
 10. Thecomputer-readable medium of claim 9, further comprising program code forgenerating a system signal associated with a system to be manipulated,the system signal based at least in part on the input signal.
 11. Thecomputer-readable medium of claim 9, further comprising program code fordetermining whether to generate a detent signal.
 12. Thecomputer-readable medium of claim 9, further comprising program code fordetermining a virtual detent to generate.
 13. A system comprising: aninput device; a processor in communication with the input device, theprocessor configured to receive an input signal, the processor furtherconfigured to generate a detent signal; and at least one actuatorcoupled to the input device, the at least one actuator configured toreceive the detent signal and produce a vibrotactile effect to the inputdevice, the vibrotactile effect comprising a virtual detent.
 14. Thesystem of claim 13, wherein the processor is further configured tocontrol a system based at least in part on a manipulation of the inputdevice.
 15. The system of claim 13, wherein the processor is furtherconfigured to determine whether to generate a detent signal.
 16. Thesystem of claim 13, wherein the at least one actuator is coupled to ahousing of the input device.
 17. The system of claim 13, wherein theinput device comprises a sensor.